Information processing method, information processing system, and information processing device

ABSTRACT

An information processing method is to be executed by a computer. The information processing method includes: receiving, from an autonomous moving body, a first processing result that is a result of first preprocessing of travel control processing in autonomous movement processing of the autonomous moving body, and sensing data received by the autonomous moving body; executing second preprocessing based on the sensing data to receive a second processing result, the second preprocessing being more advanced than the first preprocessing; determining a difference between the first processing result and the second processing result; and outputting, to the autonomous moving body based on the difference determined, a change request to change the first processing result to the third processing result, the third processing result being received based on at least one of the first processing result or the second processing result.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a continuation application of PCT International Application No.PCT/JP2020/048205 filed on Dec. 23, 2020, designating the United Statesof America, which is based on and claims priority of Japanese PatentApplication No. 2020-023199 filed on Feb. 14, 2020. The entiredisclosures of the above-identified applications, including thespecifications, drawings and claims are incorporated herein by referencein their entirety.

FIELD

The present disclosure relates to an information processing method, aninformation processing system, and an information processing devicerelated to autonomous movement of an autonomous moving body.

BACKGROUND

Multiplexing of hardware or software is demanded to improve the safetyof an autonomous driving system for an autonomous driving vehicle. Forexample, Patent Literatures (PTLs) 1 and 2 suggest improving the safetyby combining a power source and systems with detection and controlfunctions in an autonomous driving vehicle.

CITATION LIST Patent Literature

-   PTL 1: International Patent Publication No. 2018/154860-   PTL 2: Japanese Patent No. 3881197

SUMMARY Technical Problem

However, in view of the costs, the power consumption, the space, andother aspects, limited computers are mountable on an autonomous movingbody such as an autonomous driving vehicle. Autonomous movement systemsmounted on the autonomous moving body may exhibit lower performance. Thetechniques disclosed in PTL 1 and 2 improve the safety in the autonomousmovement by multiplexing the hardware or software mounted on theautonomous moving body, but exhibit insufficient performance in theautonomous movement.

To address the problem, the present disclosure provides an informationprocessing method, for example, capable of improving the performance inautonomous movement.

Solution to Problem

An information processing method according to the present disclosure isto be executed by a computer. The information processing methodincludes: receiving, from an autonomous moving body, a first processingresult that is a result of first preprocessing and sensing data receivedby the autonomous moving body, the first preprocessing beingpreprocessing of travel control processing in autonomous movementprocessing of the autonomous moving body; executing second preprocessingbased on the sensing data to receive a second processing result, thesecond preprocessing being more advanced than the first preprocessing;determining a difference between the first processing result and thesecond processing result; and outputting, to the autonomous moving bodyin accordance with the difference determined, a change request to changethe first processing result to a third processing result, the thirdprocessing result being received based on at least one of the firstprocessing result or the second processing result.

The general and specific aspect may be implemented using a system, amethod, an integrated circuit, a computer program, or acomputer-readable recording medium such as a CD-ROM, or any combinationof systems, methods, integrated circuits, computer programs, orrecording media.

Advantageous Effects

The information processing method, for example, according to an aspectof the present disclosure improves the performance in autonomousmovement.

BRIEF DESCRIPTION OF DRAWINGS

These and other advantages and features will become apparent from thefollowing description thereof taken in conjunction with the accompanyingDrawings, by way of non-limiting examples of embodiments disclosedherein.

FIG. 1 is a block diagram showing an example of an autonomous drivingvehicle and a remote autonomous driving server according to Embodiment1.

FIG. 2 is a flowchart showing an example of an information processingmethod according to Embodiment 1.

FIG. 3 is a flowchart showing another example of the informationprocessing method according to Embodiment 1.

FIG. 4 is a block diagram showing an example of an autonomous drivingvehicle, a remote autonomous driving server, and a remote processingmanagement server according to a variation of Embodiment 1.

FIG. 5 is a flowchart showing an example of an information processingmethod according to the variation of Embodiment 1.

FIG. 6 is a block diagram showing an example of an autonomous drivingvehicle and a remote autonomous driving server according to Embodiment2.

FIG. 7 is a flowchart showing an example operation of the autonomousdriving vehicle according to Embodiment 2.

FIG. 8 is a block diagram showing an example of an autonomous drivingvehicle, a remote autonomous driving server, and a remote processingmanagement server according to a variation of Embodiment 2.

FIG. 9 is a flowchart showing an example operation of the autonomousdriving vehicle according to the variation of Embodiment 2.

FIG. 10 is a flowchart showing an example of an information processingmethod according to a variation common between the embodiments.

DESCRIPTION OF EMBODIMENTS

An information processing method according to an aspect of the presentdisclosure is to be executed by a computer. The information processingmethod includes: receiving, from an autonomous moving body, a firstprocessing result that is a result of first preprocessing and sensingdata received by the autonomous moving body, the first preprocessingbeing preprocessing of travel control processing in autonomous movementprocessing of the autonomous moving body; executing second preprocessingbased on the sensing data to receive a second processing result, thesecond preprocessing being more advanced than the first preprocessing;determining a difference between the first processing result and thesecond processing result; and outputting, to the autonomous moving bodyin accordance with the difference determined, a change request to changethe first processing result to a third processing result, the thirdprocessing result being received based on at least one of the firstprocessing result or the second processing result.

In view of the costs, the power consumption, the space, and otheraspects, limited computers are mountable on an autonomous moving bodysuch as an autonomous driving vehicle. In the autonomous moving body, inaddition to the executed first preprocessing, the second preprocessingthat is more advanced than the first preprocessing is executed by aserver, for example, in which the costs, the power consumption, thespace, and other aspects are less limited. Then, the difference betweenthe first processing result that is the result of the firstpreprocessing and the second processing result that is the result of thesecond preprocessing is determined. In accordance with the difference,the change request to change the first processing result to the thirdprocessing result is output to the autonomous moving body. The firstprocessing result is the result of the first preprocessing that is thepreprocessing of the travel control processing of the autonomous movingbody. The third processing result is based on the second processingresult that is the result of the advanced second preprocessing.Alternatively, in accordance with the difference, the change request tochange the first processing result to the third processing result thatis received by correcting or limiting, for example, the first processingresult is output to the autonomous moving body. The third processingresult that is more advanced than the first processing result is thusused for the travel control processing of the autonomous moving body.Accordingly, the performance in autonomous movement improves.

The first preprocessing may be executed using a first resource. Thesecond preprocessing may be executed using a second resource. The firstresource and the second resource may be different from each other.

In this manner, the second preprocessing that is more advanced than thefirst preprocessing may be executed using the second resource differentfrom the first resource used for the execution of the firstpreprocessing. Accordingly, the second preprocessing is processable at ahigher accuracy, at a higher speed, and with less delay than the firstpreprocessing.

The first preprocessing may be executed using a first algorithm. Thesecond preprocessing may be executed using a second algorithm. The firstalgorithm and the second algorithm may be different from each other.

In this manner, the second preprocessing that is more advanced than thefirst preprocessing may be executed using the second algorithm differentfrom the first algorithm used for the execution of the firstpreprocessing. Accordingly, the second preprocessing is processable at ahigher accuracy, at a higher speed, and with less delay than the firstpreprocessing.

Each of the first preprocessing and the second preprocessing may includerecognition processing of recognizing environment of the autonomousmoving body.

In this manner, each preprocessing may include the recognitionprocessing whose result may be used for the travel control processing ofthe autonomous moving body. Accordingly, the safety and comfortabilityof the autonomous moving body improve.

Each of the first preprocessing and the second preprocessing may includetravel determination processing of determining travel of the autonomousmoving body.

In this manner, each preprocessing may include the travel determinationprocessing, of the autonomous moving body, whose result may be used forthe travel control processing of the autonomous moving body.Accordingly, the safety and comfortability of the autonomous moving bodyimprove.

The third processing result may be the second processing result.

With this configuration, the second processing result that is a resultof the second preprocessing, which is more advanced than the firstpreprocessing, is used for the travel control processing of theautonomous moving body. Accordingly, the performance in the autonomousmovement improves.

The third processing result may be received by correcting the firstprocessing result based on the difference.

With this configuration, the third processing result is used for thetravel control of the autonomous moving body. The third processingresult is received by correcting the first processing result based onthe difference between the first and second processing results. Thesecond processing result is the result of the second preprocessing thatis more advanced than the first preprocessing. Accordingly, theperformance in the autonomous movement improves.

The method may further include: executing the second preprocessing toreceive the second processing result, when a request to execute thesecond preprocessing is received from the autonomous moving body; andoutputting, to the autonomous moving body, the change request as aresponse to the request.

This configuration allows the execution of the second preprocessing, forexample, when the autonomous moving body requests the execution of theadvanced second preprocessing.

The request may include information designating specific processing outof the second preprocessing. The specific processing may be executed toreceive the second processing result.

This configuration allows the selective execution of the specificprocessing designated out of the second preprocessing, for example, asdesired by the autonomous moving body.

The method may further include: determining whether the secondpreprocessing is to be executed, when the request is received; andrejecting or ignoring the request, if it is determined not to executethe second preprocessing. For example, whether the second preprocessingis to be executed is determined based on at least one of a resource ofthe autonomous moving body, a moving condition of the autonomous movingbody, environment outside the autonomous moving body, a time, or aresponse time to the request.

When a request is received, the performance in the autonomous movementmay not be improved even by executing the second preprocessing dependingon conditions. For example, depending on the following conditions, theperformance in the autonomous movement may not be improved by executingthe second preprocessing and controlling the travel of the autonomousmoving body using the third processing result. The conditions includethe resource of the autonomous moving body, the moving condition of theautonomous moving body, the environment outside the autonomous movingbody, the time, and the response time to a request. In such cases, therequest can be rejected or ignored.

An information processing system according to an aspect of the presentdisclosure is communicative with an autonomous moving body. Theinformation processing system receives, from an autonomous moving body,a first processing result that is a result of first preprocessing andsensing data received by the autonomous moving body, the firstpreprocessing being preprocessing of travel control processing inautonomous movement of the autonomous moving body; executes secondpreprocessing based on the sensing data to receive a second processingresult, the second preprocessing being more advanced than the firstpreprocessing; determines a difference between the first processingresult and the second processing result; and outputs, to the autonomousmoving body in accordance with the difference determined, a changerequest to change the first processing result to a third processingresult, the third processing result being received based on at least oneof the first processing result or the second processing result.

Accordingly, the information processing system is provided whichexhibits higher performance in the autonomous movement.

An information processing device according to an aspect of the presentdisclosure is mounted on an autonomous moving body. The informationprocessing device executes first preprocessing that is preprocessing oftravel control processing in autonomous driving of the autonomous movingbody to receive a first processing result; outputs sensing data receivedby the autonomous moving body to an external device; receives, from theexternal device, a second processing result that is received byexecuting second preprocessing based on the sensing data, the secondpreprocessing being more advanced than the first preprocessing;determines a difference between the first processing result and thesecond processing result; and changes the first processing result to athird processing result in accordance with the difference determined,the third processing result being received based on at least one of thefirst processing result or the second processing result.

For example, in view of the costs, the power consumption, the space, andother aspects, limited computers are mountable on an autonomous movingbody such as an autonomous driving vehicle. In the autonomous movingbody, in addition to the executed first preprocessing, the secondpreprocessing that is more advanced than the first preprocessing isexecuted by an external device such as a server in which the costs, thepower consumption, the space, and other aspects are less limited. Thesecond processing result that is a result of the second preprocessing istransmitted to the autonomous driving vehicle. The difference betweenthe first processing result that is a result of the first preprocessingand the second processing result that is the result of the secondpreprocessing is determined by the autonomous driving vehicle. Inaccordance with the difference, the first processing result is changedto the third processing result. The first processing result is theresult of the first preprocessing that is the preprocessing of thetravel control processing of the autonomous moving body. The thirdprocessing result is based on the second processing result that is theresult of the advanced second preprocessing. Alternatively, inaccordance with the difference, the first processing result is changedto the third processing result that is received by correcting orlimiting, for example, the first processing result. The third processingresult that is more advanced than the first processing result is thusused for the travel control processing of the autonomous moving body.Accordingly, the performance in the autonomous movement improves.

The information processing device may further output a request toexecute the second preprocessing to the external device; and receive thesecond processing result as a response to the request.

This configuration allows the external device to execute the secondpreprocessing, for example, when the autonomous moving body requests theexecution of the advanced second preprocessing.

The information processing device may further output the request to theexternal device based on at least one of a resource of the autonomousmoving body, a moving condition of the autonomous moving body,environment outside the autonomous moving body, a time, or a responsetime to an inquiry to the external device.

Depending on conditions, the performance in the autonomous movement maynot be improved even by executing the second preprocessing. For example,depending on the following conditions, the performance in the autonomousmovement may not be improved by executing the second preprocessing andcontrolling the travel of the autonomous moving body using the thirdprocessing result. The conditions include the resource of the autonomousmoving body, the moving condition of the autonomous moving body, theenvironment outside the autonomous moving body, the time, and theresponse time to a request. In such cases, no request is output. Inother words, depending on conditions, the performance in the autonomousmovement may be improved by executing the second preprocessing. In thismanner, if the performance in the autonomous movement can be improved, arequest is output.

The request may include information designating specific processing outof the second preprocessing. The second processing result may bereceived by executing the specific processing.

This configuration designates the specific processing out of the secondpreprocessing, for example, as desired by the autonomous moving body andallows the external device to selectively execute the specificprocessing.

If the second processing result is received after a lapse of apredetermined time or more after the sensing data or the request hasbeen output, (A) the determining of the difference may be not executed,or (B) a difference between a part of the first processing result and apart of the second processing result which corresponds to the part ofthe first processing result may be determined, and the part of the firstprocessing result may be changed to the third processing result inaccordance with the difference determined.

Accordingly, if the second processing result is received after a lapseof the predetermined time or more after the sensing data or the requesthas been output, there may be a delay in the communications with theexternal device. At this time, the processing load of the informationprocessing device is reduced by executing no difference determination orthe determination only on the difference in a part of the processingresult that is not susceptible by the delay.

Now, embodiments will be described in detail with reference to thedrawings.

Note that the embodiments described below are mere comprehensive orspecific examples. The numerical values, shapes, materials, constituentelements, the arrangement and connection of the constituent elements,steps, step orders, etc. shown in the following embodiments are thusmere examples, and are not intended to limit the scope of the presentdisclosure.

Embodiment 1

Embodiment 1 will be described with reference to FIGS. 1 to 3.

FIG. 1 is a block diagram showing an example of an autonomous drivingvehicle (specifically, information processing device 20 mounted on theautonomous driving vehicle) and remote autonomous driving server 10according to Embodiment 1.

The autonomous driving vehicle travels autonomously without any drivingoperation by a person, for example. The autonomous driving vehicleincludes sensors such as a camera, a thermographic camera, a radar, alight detection and ranging (LiDAR) sensor, a Sonar sensor, a globalpositioning system (GPS), or an inertial measurement unit (IMU). Withthese, the autonomous driving vehicle recognizes the surroundingenvironment and travels autonomously. Note that the autonomous drivingvehicle is an example of an autonomous moving body. The autonomousmoving body may be a moving robot, a flying object such as a drone, or aship.

Remote autonomous driving server 10 performs wireless communicationswith the autonomous driving vehicle and remotely controls the autonomousdriving of the autonomous driving vehicle. Note that the autonomousdriving is an example of the autonomous movement.

The autonomous driving vehicle includes information processing device 20mounted thereon. Information processing device 20 is a computerincluding a processor, a memory, a communication interface, and othercomponents. The memory is a read-only memory (ROM) or a random-accessmemory (RAM), for example, capable of storing the programs to beexecuted by the processor. Information processing device 20 includessensing data receiver 21, sensing data transmitter 22, autonomousdriving system 23, first processing result transmitter 24, processingresult changer 25, communication checker 26, and travel restrictor 27.Each of sensing data receiver 21, sensing data transmitter 22,autonomous driving system 23, first processing result transmitter 24,processing result changer 25, communication checker 26, and travelrestrictor 27 may be a processor, for example, that executes theprograms stored in the memory.

Sensing data receiver 21 receives the sensing data from the sensors suchas the camera, the thermographic camera, the radar, LiDAR, the Sonarsensor, the GPS, or the IMU included in the autonomous driving vehicle.Note that sensing data receiver 21 may receive the sensing data from thesensors on other vehicles or traffic lights.

Sensing data transmitter 22 transmits the sensing data received bysensing data receiver 21 to remote autonomous driving server 10. Sensingdata transmitter 22 transmits the sensing data to remote autonomousdriving server 10, for example, via a communication interface or othercomponents included in information processing device 20. Sensing datatransmitter 22 can transmit the sensing data with less delay, forexample, employing a data compression technique and a high-speedtransmission technique such as 5G.

Autonomous driving system 23 executes first preprocessing based on thesensing data received by sensing data receiver 21 to receive a firstprocessing result. The first preprocessing is preprocessing of thetravel control processing in the autonomous driving processing of theautonomous driving vehicle. The first processing result is a result ofthe first preprocessing. For example, the preprocessing includesrecognition processing or processing of determining the travel of theautonomous driving vehicle. The recognition processing includes theprocessing of recognizing the environment of the autonomous drivingvehicle. The environment includes the position of the autonomous drivingvehicle itself, surrounding objects, the road condition, the weather, orthe traffic conditions. Specifically, the preprocessing includes theprocessing of estimating the autonomous driving vehicle itself, theprocessing of detecting the objects around the autonomous drivingvehicle, the processing of predicting the movements of the objectsaround the autonomous driving vehicle, the processing of determining thetravel of the autonomous driving vehicle, or the processing of planningthe route of the autonomous driving vehicle, for example. For example,autonomous driving system 23 may perform these processing based onlearning models. For example, the processing result includes the resultof recognition, or the result of determining the travel of theautonomous driving vehicle. Specifically, the processing result includesthe result of estimating the position of the autonomous driving vehicleitself, the result of detecting the objects around the autonomousdriving vehicle, the result of predicting the movements of the objectsaround the autonomous driving vehicle, the result of determining thetravel of the autonomous driving vehicle, or the result of planning theroute of the autonomous driving vehicle, for example.

First processing result transmitter 24 transmits, to remote autonomousdriving server 10, the first processing result that is a result of thefirst preprocessing executed by autonomous driving system 23. Firstprocessing result transmitter 24 transmits the first processing resultto remote autonomous driving server 10, for example, via a communicationinterface or other components included in information processing device20.

Note that sensing data transmitter 22 may transmit only the sensing dataused by autonomous driving system 23 for executing the firstpreprocessing. Alternatively, sensing data transmitter 22 may transmitnot only the sensing data used by autonomous driving system 23 forexecuting the first preprocessing but also the sensing data not used forexecuting the first preprocessing (e.g., high-resolution sensing datawhich cannot be handled by autonomous driving system 23).

Processing result changer 25 changes the first processing result to athird processing result based on a change request received from remoteautonomous driving server 10. That is, processing result changer 25changes the first processing result to the third processing result. Thethird processing result is then used in place of the first processingresult which was originally to be used for the travel control of theautonomous driving vehicle.

Communication checker 26 checks the status of the wirelesscommunications between the autonomous driving vehicle and remoteautonomous driving server 10. For example, communication checker 26transmits an inquiry to remote autonomous driving server 10 via acommunication interface or other components included in informationprocessing device 20. In accordance with a response to the inquiry,communication checker 26 checks the communication status. Specifically,if there is no response to the inquiry, communication checker 26determines that there is no communicative connection. If there is adelay in a response to the inquiry, communication checker 26 determinesthat there is a communication delay. Upon determination that there is nocommunicative connection or a communication delay, communication checker26 transmits, to travel restrictor 27, a travel restriction request torestrict the travel.

Travel restrictor 27 restricts the travel of the autonomous drivingvehicle based on the travel restriction request. Specifically, travelrestrictor 27 reduces the speed of the autonomous driving vehicle, stopsthe autonomous driving vehicle, or increases the collision avoidancemargin. Accordingly, even if there is a communication disturbancebetween the autonomous driving vehicle and remote autonomous drivingserver 10, the safety of the autonomous driving vehicle is maintained.

Remote autonomous driving server 10 is a computer including a processor,a memory, a communication interface, and other components. Remoteautonomous driving server 10 is an example of an information processingsystem wirelessly communicative with the autonomous driving vehicle. Thememory is a ROM or a RAM, for example, capable of storing the programsto be executed by the processor. Remote autonomous driving server 10includes sensing data receiver 11, remote autonomous driving system 12,first processing result receiver 13, difference determiner 14, andchange request transmitter 15. Each of sensing data receiver 11, remoteautonomous driving system 12, first processing result receiver 13,difference determiner 14, and change request transmitter 15 may be aprocessor, for example, that executes the programs stored in the memory.Note that the constituent elements of remote autonomous driving server10 may be distributed in a plurality of servers.

Sensing data receiver 11 receives the sensing data received by theautonomous driving vehicle from the autonomous driving vehicle. Forexample, sensing data receiver 11 receives the sensing data transmittedfrom the autonomous driving vehicle and received via a communicationinterface or other components included remote autonomous driving server10.

Remote autonomous driving system 12 executes the second preprocessingbased on the sensing data received by sensing data receiver 11 toreceive a second processing result. The second preprocessing ispreprocessing of the travel control processing in the autonomous drivingof the autonomous driving vehicle. The second preprocessing is moreadvanced than the first preprocessing. For example, remote autonomousdriving system 12 may perform the second preprocessing based on learningmodels. The second processing result is a result of the secondpreprocessing.

For example, in view of the costs, the power consumption, the space, andother aspects, limited computers are mountable on an autonomous drivingvehicle. The resources used by autonomous driving system 23 or theamount of calculating an algorithm is thus reduced. Here, the resourcesinclude the amount of processing, processing speed, memory capacity,electric power, or other characteristics of the processor. On the otherhand, in remote autonomous driving server 1, the costs, powerconsumption, space, or other aspects are less limited. Accordingly, theresources used by remote autonomous driving system 12 and the amount ofcalculating the algorithm increase. As a result, the secondpreprocessing executed by remote autonomous driving server 10 is moreadvanced than the first preprocessing executed by information processingdevice 20 mounted on the autonomous driving vehicle. For example, thefirst preprocessing is executed using a first resource (e.g., a smallerresource of the autonomous driving vehicle) and the second preprocessingis executed using a second resource (e.g., a larger resource of remoteautonomous driving server 10) different from the first resource.Accordingly, the second preprocessing is more advanced than the firstpreprocessing. Specifically, the second resource is richer than thefirst resource. For example, the first preprocessing is executed using afirst algorithm (e.g., the algorithm capable of handling a smalleramount of calculation in the autonomous driving vehicle) and the secondpreprocessing is executed using a second algorithm (e.g., the algorithmcapable of handling a larger amount of calculation in remote autonomousdriving server 10) different from the first algorithm. Accordingly, thesecond preprocessing is more advanced than the first preprocessing.Specifically, the second algorithm is more advanced than the firstalgorithm. Note that the first preprocessing may be executed based onboth the first resource and the first algorithm, whereas the secondpreprocessing may be executed based on both the second resource and thesecond algorithm.

First processing result receiver 13 receives the first processing resultfrom the autonomous driving vehicle. For example, first processingresult receiver 13 receives the first processing result transmitted fromthe autonomous driving vehicle and received via a communicationinterface or other components included in remote autonomous drivingserver 10.

Difference determiner 14 determines the difference between the firstprocessing result received by first processing result receiver 13 andthe second processing result received by remote autonomous drivingsystem 12. Detailed operation of difference determiner 14 will bedescribed later.

In accordance with the difference determined by difference determiner14, change request transmitter 15 outputs, to the autonomous drivingvehicle, a change request to change the first processing result to athird processing result. That is, change request transmitter 15instructs the autonomous driving vehicle to change the first processingresult to the third processing result. The third processing result isthen used in place of the first processing result which was originallyto be used for the travel control of the autonomous driving vehicle. Aspecific example of the third processing result will be described later.

Next, an operation of remote autonomous driving server 10 will bedescribed with reference to FIG. 2.

FIG. 2 is a flowchart showing an example of an information processingmethod according to Embodiment 1. For example, the informationprocessing method according to Embodiment 1 is executed by a computer(specifically, a processor) included in remote autonomous driving server10. FIG. 2 is thus also a flowchart showing the operation of remoteautonomous driving server 10.

First, remote autonomous driving server 10 receives, from the autonomousdriving vehicle, a first processing result and the sensing data receivedby the autonomous driving vehicle (step S11). The first processingresult is a result of first preprocessing which is the preprocessing ofthe travel control processing in the autonomous driving processing ofthe autonomous driving vehicle. For example, remote autonomous drivingserver 10 receives a result of detection processing. The result isreceived by the autonomous driving vehicle through the processing ofdetecting the obstacles (e.g., number or positions of the obstacles)around the autonomous driving vehicle based on the sensing data. Forexample, remote autonomous driving server 10 receives a result ofestimation processing. The result is received by the autonomous drivingvehicle through the processing of estimating the position of theautonomous driving vehicle based on the sensing data. For example,remote autonomous driving server 10 receives a result of traveldetermination processing. The result is received by the autonomousdriving vehicle through the processing of determining (e.g., whether tocontinue or stop) the travel of the autonomous driving vehicle based onthe sensing data.

Next, remote autonomous driving server 10 executes second preprocessing,which is more advanced than the first preprocessing, based on thesensing data to receive a second processing result (step S12). Forexample, remote autonomous driving server 10 performs the processing ofdetecting the obstacles (e.g., the number or positions of the obstacles)around the autonomous driving vehicle based on the sensing data toreceive a result of the detection processing. For example, remoteautonomous driving server 10 performs the processing of estimating theposition of the autonomous driving vehicle based on the sensing data toreceive a result of the estimation processing. For example, remoteautonomous driving server 10 performs the processing of determining(e.g., whether to continue or stop) the travel of the autonomous drivingvehicle based on the sensing data to receive a result of the traveldetermination processing.

Then, remote autonomous driving server 10 determines whether there is adelay in the second preprocessing (step S13). For example, remoteautonomous driving server 10 has the resources for the secondpreprocessing at a higher occupancy, and there may be a delay in thesecond preprocessing.

If there is a delay in the second preprocessing (Yes in step S13),remote autonomous driving server 10 outputs a request to restrict thetravel of the autonomous driving vehicle (step S14). For example, thetravel of the autonomous driving vehicle may be controlled possiblywithout any delay after the sensing data has been received. If it takestime from the receipt of the sensing data to the travel control based onthe preprocessing results, the autonomous driving vehicle moves largelyfrom the point in which the sensing data has been received. The resultof the preprocessing executed based on the sensing data may be invalidin the current position of the autonomous driving vehicle away from thepoint in which the sensing data has been received. If there is a delayin the second preprocessing, the autonomous driving vehicle may fail toeffectively utilize the result of the advanced second preprocessing byremote autonomous driving server 10 and may be in danger. Thus, remoteautonomous driving server 10 outputs the request to restrict the travelof the autonomous driving vehicle to the autonomous driving vehicle. Therequest to restrict the travel of the autonomous driving vehicle is, forexample, to reduce the speed of the autonomous driving vehicle, to stopthe autonomous driving vehicle, or to increase the collision avoidancemargin. Note that remote autonomous driving server 10 may transmit analert to the autonomous driving vehicle, if there is a delay in thesecond preprocessing.

If there is no delay in the second preprocessing (No in step S13),remote autonomous driving server 10 determines the difference betweenthe first and second processing results (step S15). For example, remoteautonomous driving server 10 determines the difference between thenumber of the obstacles indicated by the first processing result and thenumber of the obstacles indicated by the second processing result. Forexample, remote autonomous driving server 10 determines the differencebetween the positions of the obstacles indicated by the first processingresult and the positions of the obstacles indicated by the secondprocessing result (e.g., root mean square (RMS) errors of the positionsof the obstacles indicated by the first processing result where thepositions of the obstacles indicated by the second processing result arecorrect). For example, remote autonomous driving server 10 determinesthe difference between the position of the autonomous driving vehicleindicated by the first processing result and the position of theautonomous driving vehicle indicated by the second processing result(e.g., the RMS error of the position of the autonomous driving vehicleindicated by the first processing result where the position of theautonomous driving vehicle indicated by the second processing result iscorrect). For example, remote autonomous driving server 10 determinesthe difference between the result of the processing of determining thetravel of the autonomous driving vehicle indicated by the firstprocessing result and the result of the processing of determining thetravel of the autonomous driving vehicle indicated by the secondprocessing result (e.g., the number of times when the traveldetermination processing result indicated by the first processing resultdiffers from the travel determination processing result indicated by thesecond processing result within a certain period). Note that these aremere examples of the difference to be determined and the difference isnot limited thereto.

After that, remote autonomous driving server 10 determines whether thedetermined difference satisfies a predetermined condition (step S16).The predetermined condition is related to the degree of the determineddifference, for example. For example, remote autonomous driving server10 determines whether the number of the obstacles indicated by the firstprocessing result differs from the number of the obstacles indicated bythe second processing result. For example, remote autonomous drivingserver 10 determines whether the RMS error is greater than or equal to apredetermined threshold. For example, remote autonomous driving server10 determines whether the number of the times when the traveldetermination processing result indicated by the first processing resultdiffers from the travel determination processing result indicated by thesecond processing result within the certain period is larger than orequal to a predetermined threshold. Note that these are mere examples ofthe predetermined condition and the condition is not limited thereto.

If the determined difference satisfies the predetermined condition (Yesin step S16), remote autonomous driving server 10 outputs, to theautonomous driving vehicle, a change request to change the firstprocessing result to the third processing result (step S17). The case“[i]f the determined difference satisfies the predetermined condition”includes the following cases, for example. the number of the obstaclesindicated by the first processing result differs from the number of theobstacles indicated by the second processing result. The RMS error isgreater than or equal to the predetermined threshold. The number of thetimes when the travel determination processing result indicated by thefirst processing result differs from the travel determination processingresult indicated by the second processing result within the certainperiod is larger than or equal to the predetermined threshold.

The third processing result is received based on at least one of thefirst or second processing result. Since the second processing result isa result of the advanced second preprocessing, the third processingresult as a result of the processing based on the second processingresult is also an advanced processing result. For example, the thirdprocessing result may be the second processing result. Not the firstprocessing result but the second processing result that is a result ofthe advanced second preprocessing is thus used for the travel control ofthe autonomous driving vehicle. Accordingly, the performance in theautonomous driving improves.

For example, the third processing result may be received by correctingthe first processing result based on the determined difference. Forexample, a necessary or processable range of the first processing resultis corrected based on the difference between the first and secondprocessing results. Not the first processing result but a result (i.e.,the corrected first processing result) received by correcting the firstprocessing result based on the difference between the first processingresult and the second processing result that is a result of the advancedsecond preprocessing is thus used for the travel control of theautonomous driving vehicle. Accordingly, the performance in theautonomous driving improves.

If the determined difference satisfies the predetermined condition (Yesin step S16), remote autonomous driving server 10 may output a requestto restrict the travel of the autonomous driving vehicle. In this case,remote autonomous driving server 10 may notify a remote observer or anoccupant of the autonomous driving vehicle of an anomality.

If the determined difference does not satisfy the predeterminedcondition (No in step S16), remote autonomous driving server 10 outputsno change request to the autonomous driving vehicle (step S18). The case“[i]f the determined difference does not satisfy the predeterminedcondition” includes the following cases, for example. The number of theobstacles indicated by the first processing result is equal to thenumber of the obstacles indicated by the second processing result. TheRMS error is smaller than the predetermined threshold. The number of thetimes when the travel determination processing result indicated by thefirst processing result differs from the travel determination processingresult indicated by the second processing result within the certainperiod is smaller than the predetermined threshold. In this case, forexample, the first processing result is not inferior to the secondprocessing result. The autonomous driving vehicle receives no changerequest. The travel of the autonomous driving vehicle is controlledusing the first processing result that is not inferior to the secondprocessing result. In other words, the first processing result is usedfor the travel control of the autonomous driving vehicle afterconfirming that the first processing result is not inferior to thesecond processing result or the inferiority of the first processingresult to the second processing result falls within an acceptable range.

Receiving the change request with a delay due to the communicationdelay, the autonomous driving vehicle may ignore the received changerequest and restrict the travel of the autonomous driving vehicle. As inthe case where there is a delay in the second preprocessing, theautonomous driving vehicle may fail to effectively utilize the thirdprocessing result and may be in danger, even if the first processingresult is changed to the third processing result.

Note that the sensing data received by the autonomous driving vehiclemay be susceptible by the weather. Even if autonomous driving system 23executes the first preprocessing using the sensing data susceptible bythe weather, no correct first processing result may be received. Forexample, if it is raining or clouded and the visibility is poor aroundthe autonomous driving vehicle, the obstacles around the autonomousdriving vehicle cannot be recognized correctly. To address the problem,whether the weather is suitable for the autonomous driving by autonomousdriving system may be determined. This respect will be described withreference to FIG. 3.

FIG. 3 is a flowchart showing another example of the informationprocessing method according to Embodiment 1.

Unlike the flowchart shown in FIG. 2, the flowchart shown in FIG. 3includes additional step S19. The other respects (i.e., steps S11 toS18) are the same as those shown in FIG. 2. The description thereof willthus be omitted.

If there is no delay in the second preprocessing (No in step S13),remote autonomous driving server 10 determines whether the weather issuitable for the autonomous driving by autonomous driving system 23(step S19). For example, if the weather is fine, remote autonomousdriving server 10 determines that the weather is suitable for theautonomous driving by autonomous driving system 23. If it is raining orclouded, remote autonomous driving server 10 determines that the weatheris not suitable for the autonomous driving by autonomous driving system23.

If the weather is not suitable for the autonomous driving by autonomousdriving system 23 (No in step S19), remote autonomous driving server 10outputs a change request (step S17) without performing any processing ofdetermining the difference between the first and second processingresults in step S15. This is because, if the weather is not suitable forthe autonomous driving by autonomous driving system 23, it is assumablethat the first processing result is inferior to the second processingresult without taking any extra time for the difference determination.

If the weather is suitable for the autonomous driving by autonomousdriving system 23 (Yes in step S19), remote autonomous driving server 10performs the processing in step S15 and the subsequent steps asdescribed in FIG. 2. This is because, if the weather is suitable for theautonomous driving by autonomous driving system 23, the first processingresult may not be inferior to the second processing result, and it isthus better to determine the difference to determine whether a changerequest is to be output.

In this manner, whether the weather is suitable for the autonomousdriving by autonomous driving system 23 may be determined.

As described above, in view of the costs, the power consumption, thespace, and other aspects, limited computers are mountable on autonomousdriving vehicle (specifically, information processing device 20 mountedon the autonomous driving vehicle). In the autonomous moving body, inaddition to the executed first preprocessing, the second preprocessingthat is more advanced than the first preprocessing is executed by remoteautonomous driving server 10 in which the costs, the power consumption,the space, or other aspects are less limited. The difference between thefirst processing result that is a result of the first preprocessing andthe second processing result that is a result of the secondpreprocessing is determined. In accordance with the difference, a changerequest to change the first processing result to a third processingresult is output to the autonomous driving vehicle. The first processingresult is the result of the first preprocessing that is thepreprocessing of the travel control processing of the autonomous drivingvehicle. The third processing result is based on the second processingresult that is the result of the advanced second preprocessing.Alternatively, in accordance with the difference, the change request tochange the first processing result to a third processing result that isreceived by correcting or limiting, for example, the first processingresult is output to the autonomous moving body. The third processingresult that is more advanced than the first processing result is thusused for the travel control processing of the autonomous moving body.Accordingly, the performance in autonomous movement improves. Forexample, with an improvement in the performance in the autonomousdriving, the travelable area of the autonomous driving vehicleincreases.

[Variation of Embodiment 1]

For example, the remote autonomous driving server may start executingthe second preprocessing, for example, upon request by the autonomousdriving vehicle. This respect will be described as a variation ofEmbodiment 1 with reference to FIGS. 4 and 5.

FIG. 4 is a block diagram showing an example of an autonomous drivingvehicle (specifically, information processing device 20 a mounted on theautonomous driving vehicle), remote autonomous driving server 10 a, andremote processing management server 30 according to the variation ofEmbodiment 1.

Information processing device 20 a further includes remote processingrequester 28, and includes sensing data receiver 21 a, sensing datatransmitter 22 a, and first processing result transmitter 24 a in placeof sensing data receiver 21, sensing data transmitter 22, and firstprocessing result transmitter 24. In these respects, informationprocessing device 20 a differs from information processing device 20according to Embodiment 1. In other respects, information processingdevice 20 a has the same configuration as information processing device20. The description thereof will thus be omitted. Like the otherconstituent elements, remote processing requester 28 may be a processor,for example, that executes the programs stored in the memory.

Remote processing requester 28 outputs a request to execute the secondpreprocessing to remote autonomous driving server 10 a via remoteprocessing management server 30. For example, assume that there aplurality of remote autonomous driving servers 10 a that function toexecute the second preprocessing. In this case, upon receipt of therequest, remote processing manager 31 of remote processing managementserver 30 inquires of the plurality of remote autonomous driving servers10 a whether the second preprocessing is executable. In accordance withthe result of the inquiry, remote processing manager 31 selects remoteautonomous driving server(s) 10 a capable of executing the secondpreprocessing, out of the plurality of remote autonomous driving servers10 a. Remote processing manager 31 notifies the autonomous drivingvehicle of selected remote autonomous driving server(s) 10 a. Remoteprocessing requester 28 instructs sensing data receiver 21 a to receivethe sensing data, sensing data transmitter 22 a to transmit the sensingdata to selected remote autonomous driving server(s) 10 a, and firstprocessing result transmitter 24 a to transmit the first processingresult to selected remote autonomous driving server(s) 10 a.

Receiving a request from remote processing requester 28, sensing datareceiver 21 a receives the sensing data from the sensors included in theautonomous driving vehicle. In other respects, sensing data receiver 21a is the same as sensing data receiver 21. The description thereof willthus be omitted.

Sensing data transmitter 22 a transmits the sensing data received bysensing data receiver 21 a to selected remote autonomous drivingserver(s) 10 a. In other respects, sensing data transmitter 22 a is thesame as sensing data transmitter 22. The description thereof will thusbe omitted.

First processing result transmitter 24 a transmits the first processingresult to selected remote autonomous driving server(s) 10 a. The firstprocessing result is a result of the first preprocessing executed byautonomous driving system 23. In other respects, first processing resulttransmitter 24 a is the same as first processing result transmitter 24.The description thereof will thus be omitted.

Remote autonomous driving server 10 a further includes request receiver16 and second preprocessing execution determiner 17, and includessensing data receiver 11 a and remote autonomous driving system 12 a inplace of sensing data receiver 11 and remote autonomous driving system12. In these respects, remote autonomous driving server 10 a differsfrom remote autonomous driving server 10 according to Embodiment 1. Inother respects, remote autonomous driving server 10 a has the sameconfiguration as remote autonomous driving server 10. The descriptionthereof will thus be omitted. Like the other constituent elements, eachof request receiver 16 and second preprocessing execution determiner 17may be a processor, for example, that executes the programs stored inthe memory.

Request receiver 16 receives a request to execute the secondpreprocessing from the autonomous driving vehicle. For example, requestreceiver 16 receives a request to execute the second preprocessing fromthe autonomous driving vehicle via remote processing management server30.

Second preprocessing execution determiner 17 determines whether toexecute the second preprocessing upon receipt of a request. For example,second preprocessing execution determiner 17 may determine whether toexecute the second preprocessing based on the state of the tasks orresources of remote autonomous driving server 10 a. For example, secondpreprocessing execution determiner 17 determines not to execute thesecond preprocessing, if remote autonomous driving server 10 a executesa lot of tasks or has a smaller amount of the resource. For example,second preprocessing execution determiner 17 may determine whether toexecute the second preprocessing based on at least one of the resourcesof the autonomous driving vehicle, the moving conditions of theautonomous driving vehicle, the environment outside the autonomousdriving vehicle, the time, or the response time to a request. The movingconditions include the moving speed, acceleration, deceleration, movingdirection (steering angle) or other conditions of the autonomous drivingvehicle. For example, second preprocessing execution determiner 17determines to execute the second preprocessing in the following cases.The autonomous driving vehicle has insufficient resources. Theautonomous driving vehicle is moving under the conditions such as at ahigher vehicle speed, with greater acceleration, or at a greatersteering angle. The environment outside the autonomous driving vehicleis as follows. There are obstacles close to the autonomous drivingvehicle. There are a large number of obstacles. There is a moving bodyas an obstacle. The autonomous driving vehicle is in heavy traffic(e.g., at an intersection). It is dark outside. It is raining orclouded. It is the nighttime. There is a response to a request in ashort time. For example, second preprocessing execution determiner 17determines not to execute the second preprocessing in the followingcases. The autonomous driving vehicle has sufficient resources. Theautonomous driving vehicle is moving under the conditions such as at alower vehicle speed, with smaller acceleration, or at a smaller steeringangle. The environment outside the autonomous driving vehicle is asfollows. There are obstacles far from the autonomous driving vehicle.There are a small number of obstacles. There is no moving body as anobstacle. The autonomous driving vehicle is in light traffic. It isblight outside. The weather is fine. It is the daytime. There is aresponse to a request after a long time.

In this manner, upon receipt of a request, the performance in theautonomous driving may not be improved even by executing the secondpreprocessing, depending on conditions. For example, the depending onthe following conditions, the performance in the autonomous driving maynot be improved by executing the second preprocessing and controllingthe travel of the autonomous driving vehicle using the third processingresult. The conditions include resources of the autonomous drivingvehicle, the moving conditions of the autonomous driving vehicle, theenvironment outside the autonomous driving vehicle, the time, and theresponse time to a request. In such cases, remote autonomous drivingserver 10 a rejects or ignores the request.

When the second preprocessing is determined to be executed upon receiptof a request from the autonomous driving vehicle, sensing data receiver11 a receives the sensing data. In other respects, sensing data receiver11 a is the same as sensing data receiver 11. The description thereofwill thus be omitted.

Remote autonomous driving system 12 a executes the second preprocessingbased on the sensing data to receive a second processing result. Thesensing data is received by sensing data receiver 11 a when the secondpreprocessing is determined to be executed upon receipt of a requestfrom the autonomous driving vehicle. In other respects, remoteautonomous driving system 12 a is the same as remote autonomous drivingsystem 12. The description thereof will thus be omitted.

Next, an operation of remote autonomous driving server 10 a will bedescribed with reference to FIG. 5.

FIG. 5 is a flowchart showing an example of an information processingmethod according to a variation of Embodiment 1. For example, theinformation processing method according to the variation of Embodiment 1is executed by a computer (specifically, a processor) included in remoteautonomous driving server 10 a. FIG. 5 is thus also a flowchart showingthe operation of remote autonomous driving server 10 a.

Unlike the flowchart shown in FIG. 2, the flowchart shown in FIG. 5further includes additional steps S21, S22, and S23. The other respects(i.e., steps S11 to S18) are the same as those shown in FIG. 2. Thedescription thereof will thus be omitted.

Remote autonomous driving server 10 a determines whether a request toexecute the second preprocessing has been received from the autonomousdriving vehicle (step S21).

If no request to execute the second preprocessing has been received fromthe autonomous driving vehicle (No in step S21), remote autonomousdriving server 10 a repeats the processing in step S21 until receiving arequest.

If a request to execute the second preprocessing has been received fromthe autonomous driving vehicle (Yes in step S21), remote autonomousdriving server 10 a determines whether to execute the secondpreprocessing (step S22).

If it is determined not to execute the second preprocessing (No in stepS22), remote autonomous driving server 10 a rejects or ignores therequest (step S23). Accordingly, for example, remote processingmanagement server 30 does not select remote autonomous driving server 10a that has rejected or ignored the request as the server to execute thesecond preprocessing. Remote processing management server 30 selects aserver to execute the second preprocessing from the other ones of remoteautonomous driving servers 10 a. If all remote autonomous drivingservers 10 a have rejected or ignored the request, remote processingmanagement server 30 may instruct the autonomous driving vehicle torestrict the travel.

If it is determined to execute the second preprocessing (Yes in stepS22), remote autonomous driving server 10 a performs the processing instep S11 and the subsequent steps, as described with reference to FIG.2.

Note that a request from the autonomous driving vehicle may includeinformation designating specific processing out of the secondpreprocessing. In this case, remote autonomous driving server 10 aexecutes the specific processing to receive a second processing resultin step S12. This is because, depending on the moving conditions, theexternal environment, or other conditions of the autonomous drivingvehicle, the difference may be determined only in the specificprocessing (e.g., only the obstacle detection processing or only thetravel determination processing). This allows remote autonomous drivingserver 10 a to selectively execute the specific processing designatedout of the second preprocessing, for example, as desired by theautonomous driving vehicle. If only the obstacle detection is performed,the area for the obstacle detection may be limited. For example, if theautonomous driving vehicle changes lanes, the obstacle detection may beperformed in the new lane after the change.

Assume that remote processing management server 30 receives requestsfrom a plurality of autonomous driving vehicles. In this case, remoteprocessing management server 30 may select one autonomous drivingvehicle whose request is preferentially received based on at least oneof the resources of the autonomous driving vehicles, the movingconditions of the autonomous driving vehicles, the environments outsidethe autonomous driving vehicles, times, or the response times to therequests.

As described above, remote autonomous driving server 10 a may startexecuting the second preprocessing, for example, upon request by theautonomous driving vehicle. Accordingly, remote autonomous drivingserver 10 a allows the execution of the second preprocessing, when theautonomous driving vehicle requests the execution of the advanced secondpreprocessing.

Embodiment 2

An example has been described in Embodiment 1 where remote autonomousdriving server 10 determines the difference between the first and secondprocessing results. This determination may be however made by aninformation processing device mounted on an autonomous driving vehicle.This respect will be described as Embodiment 2 with reference to FIGS. 6and 7.

FIG. 6 is a block diagram showing an example of an autonomous drivingvehicle (specifically, information processing device 200 mounted on theautonomous driving vehicle) and remote autonomous driving server 100according to Embodiment 2.

Remote autonomous driving server 100 performs wireless communicationswith the autonomous driving vehicle.

The autonomous driving vehicle includes information processing device200 mounted thereon. Information processing device 200 is a computerincluding a processor, a memory, a communication interface, and othercomponents. The memory is a ROM or a RAM, for example, capable ofstoring the programs to be executed by the processor. Informationprocessing device 200 includes sensing data receiver 201, sensing datatransmitter 202, autonomous driving system 203, second processing resultreceiver 204, difference determiner 205, processing result changer 206,communication checker 207, and travel restrictor 208. Each of sensingdata receiver 201, sensing data transmitter 202, autonomous drivingsystem 203, second processing result receiver 204, difference determiner205, processing result changer 206, communication checker 207, andtravel restrictor 208 may be a processor, for example, that executes theprograms stored in the memory.

Sensing data receiver 201, sensing data transmitter 202, autonomousdriving system 203, communication checker 207, and travel restrictor 208basically have the same functions as sensing data receiver 21, sensingdata transmitter 22, autonomous driving system 23, communication checker26, and travel restrictor 27 according to Embodiment 1. The descriptionthereof will thus be omitted.

Second processing result receiver 204 receives a second processingresult from remote autonomous driving server 100. The second processingresult is a result of executing the second preprocessing, which is moreadvanced than the first preprocessing, based on the sensing data. Forexample, second processing result receiver 204 receives the secondprocessing result transmitted from remote autonomous driving server 100and received via a communication interface or other components includedin the autonomous driving vehicle.

Difference determiner 205 determines the difference between the firstprocessing result received by autonomous driving system 203 and thesecond processing result received by second processing result receiver204. Difference determiner 205 according to Embodiment 2 is included ininformation processing device 200, whereas difference determiner 14according to Embodiment 1 is included in remote autonomous drivingserver 10. In other respects, the functions are basically the same. Thedetailed description of difference determiner 205 will thus be omitted.

In accordance with the determined difference, processing result changer206 changes the first processing result to a third processing result. Anexample has been described in Embodiment 1 where processing resultchanger 25 changes the first processing result to the third processingresult in accordance with a change request from remote autonomousdriving server 10. In Embodiment 2, processing result changer 206changes the first processing result to the third processing result inaccordance with the difference determined by the autonomous drivingvehicle itself.

Remote autonomous driving server 100 is a computer including aprocessor, a memory, a communication interface, and other components.Remote autonomous driving server 100 is an example of an external deviceof information processing device 200. The memory is a ROM or a RAM, forexample, capable of storing the programs to be executed by theprocessor. Remote autonomous driving server 100 includes sensing datareceiver 101, remote autonomous driving system 102, and secondprocessing result transmitter 103. Each of sensing data receiver 101,remote autonomous driving system 102, and second processing resulttransmitter 103 may be a processor, for example, that executes theprograms stored in the memory. Note that the constituent elements ofremote autonomous driving server 100 may be distributed in a pluralityof servers.

Sensing data receiver 101 and remote autonomous driving system 102basically have the same functions as sensing data receiver 11 and remoteautonomous driving system 12 according to Embodiment 1. The descriptionthereof will thus be omitted.

Second processing result transmitter 103 transmits the second processingresult to the autonomous driving vehicle. The second processing resultis a result of the second preprocessing executed by remote autonomousdriving system 102. Second processing result transmitter 103 transmitsthe second processing result to the autonomous driving vehicle via acommunication interface or other components included in remoteautonomous driving server 100.

In Embodiment 2, the second processing result is transmitted from remoteautonomous driving server 100 to the autonomous driving vehicle. Thedifference between the first and second processing results is determinednot by remote autonomous driving server 100 but by the autonomousdriving vehicle.

Next, an operation of the autonomous driving vehicle will be describedwith reference to FIG. 7.

FIG. 7 is a flowchart showing an example operation of the autonomousdriving vehicle (specifically, information processing device 200)according to Embodiment 2.

First, the autonomous driving vehicle determines whether the autonomousdriving vehicle is communicatively connected to remote autonomousdriving server 100 (step S41).

Not communicatively connected to remote autonomous driving server 100(No in step S41), the autonomous driving vehicle restricts the travel ofthe autonomous driving vehicle (step S42). If the autonomous drivingvehicle is not communicatively connected to remote autonomous drivingserver 100, the autonomous driving vehicle cannot receive the secondprocessing result. That is, the autonomous driving vehicle fails todetermine the difference between the first and second processing resultsand to change the first processing result to the third processingresult. If the autonomous driving vehicle is not communicativelyconnected to remote autonomous driving server 100, the autonomousdriving vehicle may be in danger. The travel of the autonomous drivingvehicle is thus restricted. Accordingly, even if there is acommunication disturbance between the autonomous driving vehicle andremote autonomous driving server 10, the safety of the autonomousdriving vehicle is maintained.

Being communicatively connected to remote autonomous driving server 100(Yes in step S41), the autonomous driving vehicle executes the firstpreprocessing based on the sensing data to receive a first processingresult (step S43). The first preprocessing is preprocessing of thetravel control processing in the autonomous driving of the autonomousdriving vehicle. For example, the autonomous driving vehicle performsthe processing of detecting the obstacles (e.g., the number or positionsof the obstacles) around the autonomous driving vehicle based on thesensing data to receive a result of the detection processing. Forexample, the autonomous driving vehicle performs the processing ofestimating the position of the autonomous driving vehicle based on thesensing data to receive a result of the estimation processing. Forexample, the autonomous driving vehicle performs the processing ofdetermining (where to continue or stop) the travel of the autonomousdriving vehicle based on the sensing data to receive a result of thetravel determination processing.

Next, the autonomous driving vehicle outputs the sensing data receivedby the autonomous driving vehicle to remote autonomous driving server100 (step S44). After receiving the sensing data, remote autonomousdriving server 100 executes the second preprocessing, which is moreadvanced than the first preprocessing, based on the sensing datapreprocessing to receive a second processing result. Remote autonomousdriving server 100 then transmits the received second processing resultto the autonomous driving vehicle.

Then, the autonomous driving vehicle determines whether the secondprocessing result transmitted from remote autonomous driving server 100has been received without any delay (step S45). For example, theautonomous driving vehicle determines that the second processing resulthas not been received without any delay, if the second processing resultis received after a lapse of a predetermined time or more after thesensing data or the request has been output. If there is a communicationdelay between the autonomous driving vehicle and remote autonomousdriving server 100, the second processing result may not have beenreceived without any delay.

If the second processing result could not be received without any delay(No in step S45), the autonomous driving vehicle executes no differencedetermination but restricts the travel of the autonomous driving vehicle(step S42). This is because, as described in Embodiment 1 where there isa delay in the second preprocessing, the autonomous driving vehicle mayfail to effectively utilize the third processing result and may be indanger, even if the first processing result is changed to the thirdprocessing result.

If the second processing result has been received without any delay (Yesin step S45), the autonomous driving vehicle determines the differencebetween the first and second processing results (step S46) anddetermines whether the determined difference satisfies the predeterminedcondition (step S47). The processing in steps S46 and S47 is performedby the autonomous driving vehicle. In other respects, the processing isthe same as the processing in steps S15 and S16 described with referenceto FIG. 2. The description thereof will thus be omitted.

If the determined difference satisfies the predetermined condition (Yesin step S47), the autonomous driving vehicle executes the processing ofchanging the first processing result to a third processing result (stepS48). Using the third processing result, the travel control processingis executed. In this manner, not the first processing result but thethird processing result based on the second processing result that is aresult of the advanced second preprocessing is thus used for the travelcontrol of the autonomous driving vehicle. Accordingly, the performancein the autonomous driving improves.

If the determined difference satisfies the predetermined condition (Yesin step S47), the autonomous driving vehicle may restrict the travel ofthe autonomous driving vehicle. In this case, the autonomous drivingvehicle may notify a remote observer or an occupant of the autonomousdriving vehicle of an anomality.

If the determined difference does not satisfy the predeterminedcondition (No in step S47), the autonomous driving vehicle executes nochange processing (step S49). In this case, for example, the firstprocessing result is not inferior to the second processing result. Thereis no need for the autonomous driving vehicle to change the firstprocessing result to the third processing result. The travel of theautonomous driving vehicle is controlled using the first processingresult that is not inferior to the second processing result.

The autonomous driving vehicle determines whether it has arrived at adestination (step S50). Not having arrived at the destination (No instep S50), the autonomous driving vehicle repeats the processing insteps S41 to S49 until arriving at the destination. Having arrived atthe destination (Yes in step S50), the autonomous driving vehicle stopsand the processing ends.

As described above, in view of the costs, the power consumption, thespace, and other aspects, limited computers are mountable on anautonomous driving vehicle. In the autonomous driving vehicle, inaddition to the executed first preprocessing, the second preprocessingthat is more advanced than the first preprocessing is executed by anexternal device (e.g., remote autonomous driving server 100) in whichthe costs, the power consumption, the space, or other aspects are lesslimited. The second processing result that is a result of the secondpreprocessing is transmitted to the autonomous driving vehicle. Thedifference between the first processing result that is a result of thefirst preprocessing and the second processing result that is the resultof the second preprocessing is determined by the autonomous drivingvehicle. In accordance with the difference, the first processing resultis changed to a third processing result. The first processing result isthe result of the first preprocessing that is the preprocessing of thetravel control processing of the autonomous driving vehicle. The thirdprocessing result is based on the second processing result that is theresult of the advanced second preprocessing. Alternatively, inaccordance with the difference, the first processing result is changedto a third processing result that is received by correcting or limiting,for example, the first processing result. The third processing resultthat is more advanced than the first processing result is thus used forthe processing of controlling the travel of the autonomous drivingvehicle. Accordingly, the performance in the autonomous drivingimproves. For example, with an improvement in the performance in theautonomous driving, the travelable area of the autonomous drivingvehicle increases.

[Variation of Embodiment 2]

For example, the remote autonomous driving server may start executingthe second preprocessing, for example, upon request by the autonomousdriving vehicle. This respect will be described as a variation ofEmbodiment 2 with reference to FIGS. 8 and 9.

FIG. 8 is a block diagram showing an example of an autonomous drivingvehicle (specifically, information processing device 200 a mounted onthe autonomous driving vehicle), remote autonomous driving server 100 a,and remote processing management server 30 according to the variation ofEmbodiment 2.

Information processing device 200 a further includes remote processingrequester 210 and includes sensing data receiver 201 a and sensing datatransmitter 202 a in place of sensing data receiver 201 and sensing datatransmitter 202. In these respects, information processing device 200 adiffers from information processing device 200 according to Embodiment2. In other respects, information processing device 200 a has the sameconfiguration as information processing device 200. The descriptionthereof will thus be omitted. Like the other constituent elements,remote processing requester 210 may be a processor, for example, thatexecutes the programs stored in the memory.

Remote processing requester 210 outputs a request to execute the secondpreprocessing to remote autonomous driving server 100 a via remoteprocessing management server 30. Since remote processing managementserver 30 basically has the same functions as in the variation ofEmbodiment 1, the description thereof will be omitted. For example,remote processing requester 210 may output a request to remoteautonomous driving server 100 a based on at least one of the resourcesof the autonomous driving vehicle, the moving conditions of theautonomous driving vehicle, the environment outside the autonomousdriving vehicle, the time, or the response time to the inquiry to remoteautonomous driving server 100 a. For example, a request is output in thefollowing cases. The autonomous driving vehicle has insufficientresources. The autonomous driving vehicle is moving under the conditionssuch as at a higher vehicle speed, with greater acceleration, or agreater steering angle. The environment outside the autonomous drivingvehicle is as follows. There are obstacles close to the autonomousdriving vehicle. There are a large number of obstacles. There is amoving body as an obstacle. The autonomous driving vehicle is in heavytraffic (e.g., at an intersection). It is dark outside. It is raining orclouded. It is the nighttime. There is a response to a request in ashort time. For example, no request is output in the following cases.The autonomous driving vehicle has sufficient resources. The autonomousdriving vehicle is moving under the conditions such as at a lowervehicle speed, with smaller acceleration, or at a smaller steeringangle. The environment outside the autonomous driving vehicle is asfollows. There are obstacles far from the autonomous driving vehicle.There are a small number of obstacles. There is no moving body as anobstacle. The autonomous driving vehicle is in light traffic. It isblight outside. The weather is fine. It is the daytime. There is aresponse to a request after a long time.

In this manner, depending on conditions, the performance in theautonomous driving may not be improved even by executing the secondpreprocessing. For example, depending on the following conditions, theperformance in the autonomous movement may not be improved by executingthe second preprocessing and controlling the travel of the autonomousmoving body using the third processing result. The conditions includethe resource of the autonomous moving body, the moving condition of theautonomous moving body, the environment outside the autonomous movingbody, the time, and the response time to a request. In such cases, theautonomous moving body outputs no request. In other words, depending onconditions, the performance in the autonomous movement may be improvedby executing the second preprocessing. In this manner, if theperformance in the autonomous movement can be improved, the autonomousmoving body outputs a request.

Remote processing requester 210 instructs sensing data receiver 201 a toreceive the sensing data, and sensing data transmitter 202 a to transmitthe sensing data to remote autonomous driving server 100 a selected byremote processing manager 31.

Sensing data receiver 201 a receives the sensing data from the sensorsincluded in the autonomous driving vehicle in accordance with a requestfrom remote processing requester 210. In other respects, sensing datareceiver 201 a is the same as sensing data receiver 201. The descriptionthereof will thus be omitted.

Sensing data transmitter 202 a transmits the sensing data received bysensing data receiver 201 a to selected remote autonomous driving server100 a. In other respects, sensing data transmitter 202 a is the same assensing data transmitter 202. The description thereof will thus beomitted.

Remote autonomous driving server 100 a further includes request receiver104 and second preprocessing execution determiner 105, and includesensing data receiver 101 a and remote autonomous driving system 102 ain place of sensing data receiver 101 and remote autonomous drivingsystem 102. In these respects, remote autonomous driving server 100 adiffers from remote autonomous driving server 100 according toEmbodiment 2. In other respects, remote autonomous driving server 100 ahas the same configuration as remote autonomous driving server 100. Thedescription thereof will thus be omitted. Like the other constituentelements, each of request receiver 104 and second preprocessingexecution determiner 105 may be a processor, for example, that executesthe programs stored in the memory.

Request receiver 104 is basically the same as request receiver 16according to the variation of Embodiment 1. The description thereof willthus be omitted.

Second preprocessing execution determiner 105 is basically the same assecond preprocessing execution determiner 17 according to the variationof Embodiment 1. The description thereof will thus be omitted.

When the second preprocessing is determined to be executed upon receiptof a request from the autonomous driving vehicle, sensing data receiver101 a receives the sensing data. In other respects, sensing datareceiver 101 a is the same as sensing data receiver 101. The descriptionthereof will thus be omitted.

When the second preprocessing is determined to be executed upon receiptof a request from the autonomous driving vehicle, remote autonomousdriving system 102 a executes the second preprocessing based on thesensing data received by sensing data receiver 101 a to receive a secondprocessing result. In other respects, remote autonomous driving system102 a is the same as remote autonomous driving system 102. Thedescription thereof will thus be omitted.

Next, an operation of the autonomous driving vehicle will be describedwith reference to FIG. 9.

Unlike the flowchart shown in FIG. 7, the flowchart shown in FIG. 9further includes additional step S51 in place of step S41. The otherrespects (i.e., steps S42 to S50) are the same as those shown in FIG. 7.The description thereof will thus be omitted.

The autonomous driving vehicle outputs a request to execute the secondpreprocessing to remote autonomous driving server 100 a (step S51). Forexample, after outputting the request, the autonomous driving vehiclereceives a notification from remote processing management server 30. Thenotification indicates to which remote autonomous driving server 100 athe sensing data is to be output as the server capable of executing thesecond preprocessing. The autonomous driving vehicle receives the secondprocessing result as a response to the request in step S45. If there isno response to the request after outputting the request, the autonomousdriving vehicle may determine that there is no communicative connectionwith remote processing management server 30, for example, and restrictthe travel of the autonomous driving vehicle.

Note that a request for the execution of the second preprocessing mayinclude information designating specific processing out of the secondpreprocessing. This is because, depending on the moving conditions, theexternal environment, or other conditions of the autonomous drivingvehicle, the difference may be determined only in the specificprocessing (e.g., only the obstacle detection processing or only thetravel determination processing). This allows the autonomous drivingvehicle to designate the specific processing out of the secondpreprocessing, for example, as desired by the autonomous drivingvehicle, and remote autonomous driving server 100 a to selectivelyexecute the specific processing. In this case, the autonomous drivingvehicle receives a second processing result that is a result ofexecuting the specific processing in steps S45 and S46, and determinesthe difference only in the specific processing.

Even if the autonomous driving vehicle receives the second processingresult after a lapse of a predetermined time or more after the sensingdata or the request has been output (i.e., No in step S45), theprocessing may proceed to step S46 to determine the difference between apart of the first processing result and the corresponding part of thesecond processing result. For example, the part of each processingresult is less susceptible by a delay. For example, the part of eachprocessing result is a result of surrounding recognition processingwhich is less susceptible by a delay. For example, since a result of theprocessing of estimating the position of the autonomous driving vehicleitself is more susceptible by a delay, there is no need to execute thedetermination on the difference in the processing result. In accordancewith the determined difference, the autonomous driving vehicle maychange the part of the first processing result to the third processingresult. In this manner, if a second processing result is received aftera lapse of a predetermined time or more after the sensing data or therequest has been output, there may be a delay in the communications withremote autonomous driving server 100 a. At this time, the processingload of autonomous driving vehicle (specifically, information processingdevice 200 a) is reduced by executing no difference determination or thedetermination only on the difference in a part of the processing resultthat is not susceptible by the delay.

As described above, the remote autonomous driving server may startexecuting the second preprocessing, for example, upon output of arequest from the autonomous driving vehicle. This allows the executionof the second preprocessing when the autonomous driving vehicle requeststhe execution of the advanced second preprocessing.

(Variation Common Between Embodiments)

In the embodiments described above, a change in the preprocessingresults is instructed or controlled depending on whether there is adelay in the second preprocessing. If there is a delay, a change may beinstructed or controlled depending on whether processing of correctingthe delay is possible.

A change in the preprocessing results may be instructed or controlled orthe travel restriction may be instructed or performed in accordance withan operational design domain (ODD) according to the delay and thedifference in addition to the difference between the first and secondprocessing results. The ODD is set using the time, the area, the travelconditions (e.g., speed, acceleration, or steering angle), theenvironment (e.g., the weather or the brightness), for example, asfactors.

The processing described above will be described with reference to FIG.10. FIG. 10 is a flowchart showing an example of an informationprocessing method according to a variation common between theembodiments. Note that the description of substantially the sameprocessing as in the embodiments described above will be omitted.

If there is a delay in the second preprocessing (Yes in step S13), theserver (e.g., the remote autonomous driving server) determines whetherthe processing of correcting the delay is possible (step S60).Specifically, if there is a communication delay between the server andthe autonomous driving vehicle or there is a delay as described above,the server determines whether the time lag in the processing result dueto the delay can be corrected (e.g., reduced or diminished). Forexample, whether the amount of delay is smaller than or equal to athreshold is determined.

If the processing of correcting the delay is possible (Yes in step S60),the server executes the correction processing (step S61). Specifically,if the amount of delay is smaller than or equal to a threshold, theserver executes the processing of correcting the second preprocessingresult.

If there is no delay in the second preprocessing (No in step S13) orafter the execution of the correction processing, the processingproceeds to step S15 and S16.

If the processing of correcting the delay is impossible (No in stepS60), the server determines whether a first ODD is satisfied (step S62).Specifically, the first ODD is set for the autonomous driving of theautonomous driving vehicle. For example, the first ODD is as follows.The autonomous driving vehicle travels in an area other than anintersection, at a speed of 20 km/h or lower when the weather is fine.

If the first ODD is satisfied, the server outputs no change request(step S18). In this case, the travel control processing is performed inthe autonomous driving based on a result of the first preprocessingexecuted by the autonomous driving vehicle.

If the difference between the first and second preprocessing satisfies apredetermined condition (Yes in step S16), the server determines whethera second ODD is satisfied (step S63). Specifically, the second ODD isset for the autonomous driving of the autonomous driving vehicle butdifferent from the first ODD. For example, the second ODD is as follows.The autonomous driving vehicle travels in any area, at a speed of 15km/h or lower when it is fine or raining. In this manner, the second ODDis at least partially laxer than the first ODD. On the other hand, ifthe second processing result is used, the communication is used. Theitems of the second ODD susceptible by a delay are equal or stricterthan the first ODD.

If the difference satisfies the predetermined condition and the secondODD is satisfied (Yes in step S63), the server outputs a change request(step S17). In this case, the travel control processing is performed inthe autonomous driving using a result of the second preprocessingexecuted by the server or a corrected result of the first preprocessing.

If the difference between the first and second preprocessing does notsatisfy the predetermined condition (No in step S16), the serverdetermines whether the second ODD is satisfied (step S64). Thisprocessing is substantially the same as the processing in step S63.

If the difference does not satisfy the predetermined condition but thesecond ODD is satisfied (Yes in step S64), the server outputs no changerequest (step S18). In this manner, when the difference does not satisfythe predetermined condition, the second ODD is used for the followingreasons. The difference between the result of the preprocessing by theserver and the result of the preprocessing by the autonomous drivingvehicle does not satisfy the predetermined condition. In other words,the result of the preprocessing by the autonomous driving vehicle can behandled equally as the result of the preprocessing by the server.

If the first ODD is not satisfied (No in step S62) or the second ODD isnot satisfied (No in step S63 or S64), the server outputs a travelrestriction request (step S14).

An example has been described with reference to FIG. 10 where the serverdetermines whether the processing of correcting the delay is possible,and determines to instruct a change in the preprocessing results ortravel restriction in accordance with the ODD corresponding to the delayand difference. Instead, the autonomous driving vehicle may determinewhether the processing of correcting the delay is possible, and executethe control of a change in the preprocessing results or travelrestriction in accordance with the ODD corresponding to the delay anddifference.

A change in the preprocessing results may be instructed or controlleddepending on whether there is a communication disturbance in the secondpreprocessing. Specifically, a communication disturbance corresponds toa communication data loss. For example, a change in the preprocessingresults may be instructed or controlled depending on whether the rate ofthe packet loss is higher than or equal to a threshold. Note that thecommunication disturbance may include the communication delay describedabove.

If there is a communication disturbance, a change in the preprocessingresults may be instructed or controlled depending on whether processingof correcting the communication disturbance is possible. Specifically, achange in the preprocessing results is instructed or controlleddepending on whether the data deficient due to the communication dataloss can be complemented. For example, a change in the preprocessingresults is instructed or controlled in accordance with the rate of thelost packets that can be complemented.

OTHER EMBODIMENTS

As described above, the information processing method, informationprocessing system (e.g., remote autonomous driving server), andinformation processing device according to one or more aspects of thepresent disclosure have been described based on the embodiments. Thepresent disclosure is however not limited to these embodiments. One ormore aspects of the present disclosure may include other embodiments,such as those received by variously modifying the embodiments asconceived by those skilled in the art or those achieved by freelycombining the constituent elements in the embodiments without departingfrom the scope and spirit of the present disclosure.

For example, the present disclosure may be implemented as a program forcausing a processor to execute the steps included in the informationprocessing method. The present disclosure may further be implemented asa non-transitory computer-readable recording medium, such as a CD-ROM,storing the program.

For example, if the present disclosure is implemented as a program(software), the steps are executed by executing the program utilizinghardware resources, such as a CPU, a memory, and an input/outputcircuit, of a computer. That is, the CPU receives data from the memory,an input/output circuit, etc. and calculates the data, or outputs aresult of the calculation to the memory, the input/output circuit, etc.to execute the steps.

Note that the constituent elements included in the informationprocessing system and information processing device according to theembodiments may be achieved by dedicated hardware or by executingsoftware programs suitable for the constituent elements. The constituentelements may be achieved by a program executor, such as a CPU or aprocessor, reading and executing the software programs stored in astorage media such as a hard disk or a semiconductor memory.

Some or all of the functions of the information processing system andinformation processing device according to the embodiments are typicallyimplemented by, as an integrated circuit, an LSI. The functions may beincluded individually in single chips, or some or all of the functionsmay be included in a single chip. The circuit integration is not limitedto the LSI. The devices may be dedicated circuits or general-purposeprocessors. A field programmable gate array (FPGA) programmable afterthe manufacture of an LSI circuit or a reconfigurable processor capableof reconfiguring the connections and settings of circuit cells inside anLSI may be employed.

The present disclosure includes other embodiments, such as thosereceived by variously modifying the embodiments as conceived by thoseskilled in the art without departing from the scope and spirit of thepresent disclosure.

INDUSTRIAL APPLICABILITY

The present disclosure is applicable to a remote-control system for anautonomous driving vehicle.

1. An information processing method to be executed by a computer, theinformation processing method comprising: receiving, from an autonomousmoving body, a first processing result that is a result of firstpreprocessing and sensing data received by the autonomous moving body,the first preprocessing being preprocessing of travel control processingin autonomous movement processing of the autonomous moving body andexecuted by a first computer included in the autonomous moving body;executing second preprocessing based on the sensing data to receive asecond processing result, the second preprocessing being more advancedthan the first preprocessing and executed by a second computer connectedto the autonomous moving body via a network and having a processingpower higher than a processing power of the first computer; determininga difference between the first processing result and the secondprocessing result; and outputting, to the autonomous moving body inaccordance with the difference determined, a change request to changethe first processing result to a third processing result, the thirdprocessing result being received based on at least one of the firstprocessing result or the second processing result.
 2. The informationprocessing method according to claim 1, wherein the first preprocessingis executed using a first resource, the second preprocessing is executedusing a second resource, and the first resource and the second resourceare different from each other.
 3. The information processing methodaccording to claim 1, wherein the first preprocessing is executed usinga first algorithm, the second preprocessing is executed using a secondalgorithm, and the first algorithm and the second algorithm aredifferent from each other.
 4. The information processing methodaccording to claim 1, wherein each of the first preprocessing and thesecond preprocessing includes recognition processing of recognizingenvironment of the autonomous moving body.
 5. The information processingmethod according to claim 1, wherein each of the first preprocessing andthe second preprocessing includes travel determination processing ofdetermining travel of the autonomous moving body.
 6. The informationprocessing method according to claim 1, wherein the third processingresult is the second processing result.
 7. The information processingmethod according to claim 1, wherein the third processing result isreceived by correcting the first processing result based on thedifference.
 8. The information processing method according to claim 1,further comprising: executing the second preprocessing to receive thesecond processing result, when a request to execute the secondpreprocessing is received from the autonomous moving body; andoutputting, to the autonomous moving body, the change request as aresponse to the request.
 9. The information processing method accordingto claim 8, wherein the request includes information designatingspecific processing out of the second preprocessing, and the specificprocessing is executed to receive the second processing result.
 10. Theinformation processing method according to claim 8, further comprising:determining whether the second preprocessing is to be executed, when therequest is received; and rejecting or ignoring the request, if it isdetermined not to execute the second preprocessing.
 11. The informationprocessing method according to claim 10, wherein whether the secondpreprocessing is to be executed is determined based on at least one of aresource of the autonomous moving body, a moving condition of theautonomous moving body, environment outside the autonomous moving body,a time, or a response time to the request.
 12. An information processingsystem connected to an autonomous moving body via a network andcommunicative with the autonomous moving body, the informationprocessing system that: receives, from an autonomous moving body, afirst processing result that is a result of first preprocessing andsensing data received by the autonomous moving body, the firstpreprocessing being preprocessing of travel control processing inautonomous movement of the autonomous moving body and executed by afirst computer included in the autonomous moving body and having aprocessing power lower than a processing power of the informationprocessing system; executes second preprocessing based on the sensingdata to receive a second processing result, the second preprocessingbeing more advanced than the first preprocessing; determines adifference between the first processing result and the second processingresult; and outputs, to the autonomous moving body in accordance withthe difference determined, a change request to change the firstprocessing result to a third processing result, the third processingresult being received based on at least one of the first processingresult or the second processing result.
 13. An information processingdevice mounted on an autonomous moving body, the information processingdevice that: executes first preprocessing that is preprocessing oftravel control processing in autonomous driving of the autonomous movingbody to receive a first processing result; outputs sensing data receivedby the autonomous moving body to an external device; receives, from theexternal device, a second processing result that is received byexecuting second preprocessing based on the sensing data, the secondpreprocessing being more advanced than the first preprocessing andexecuted by the external device connected to the autonomous moving bodyvia a network and having a processing power higher than a processingpower of the information processing device; determines a differencebetween the first processing result and the second processing result;and changes the first processing result to a third processing result inaccordance with the difference determined, the third processing resultbeing received based on at least one of the first processing result orthe second processing result.
 14. The information processing deviceaccording to claim 13 that further: outputs a request to execute thesecond preprocessing to the external device; and receives the secondprocessing result as a response to the request.
 15. The informationprocessing device according to claim 14 that further: outputs therequest to the external device based on at least one of a resource ofthe autonomous moving body, a moving condition of the autonomous movingbody, environment outside the autonomous moving body, a time, or aresponse time to an inquiry to the external device.
 16. The informationprocessing device according to claim 14, wherein the request includesinformation designating specific processing out of the secondpreprocessing, and the second processing result is received by executingthe specific processing.
 17. The information processing device accordingto claim 14, wherein if the second processing result is received after alapse of a predetermined time or more after the sensing data or therequest has been output, (A) the determining of the difference is notexecuted, or (B) a difference between a part of the first processingresult and a part of the second processing result which corresponds tothe part of the first processing result is determined, and the part ofthe first processing result is changed to the third processing result inaccordance with the difference determined.